Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

Abstract: An intake manifold is provided. A first inlet is structured to receive pressurized intake air from a turbocharger. A second inlet is structured to receive exhaust gas recirculation gas from an exhaust gas recirculation system. A third inlet is structured to receive fuel from a fuel line. A plurality of outlets are structured to be fluidly coupled to an engine. An intake manifold passage extends between each of the first, second, and third inlets, and the plurality of outlets. The intake manifold passage is shaped so as to cause at least two reversals in flow direction of each of the intake air, the exhaust gas recirculation gas, and the fuel through the intake manifold passage so as to improve mixing of each of the intake air, the exhaust gas recirculation gas, and the fuel.

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

Abstract: Systems, apparatus, and methods are disclosed that include an internal combustion engine having a plurality of cylinders operable by a valve actuation mechanism. A cylinder deactivation operation is modified in response to determining a cyclical operation mode of the engine.

Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

Abstract: A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.

Abstract: A stereo imaging system comprises a depth sensing system, a stereo viewer, and a processor configured to receive captured stereo worksite images, compare a depth value to a predetermined threshold value, and generate stereo images for display by adjusting or not adjusting native disparities based on the comparison of the depth value to the threshold value.

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.

Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

Abstract: An exhaust manifold comprises a plurality of exhaust intake conduits structured to be fluidly coupled to an engine and receive exhaust gas from a corresponding cylinder of the engine. At least one exhaust intake conduit provides a reduction in an exhaust intake conduit cross-sectional area from an inlet to an outlet. A plurality of bends are each defined by a respective one of the exhaust intake conduit outlets. An exhaust intake manifold is fluidly coupled to the exhaust intake manifold and defines an exhaust intake manifold flow axis. Each of the plurality of bends is shaped so as to define an angle of approach of exhaust gas flowing therethrough. A first angle of approach of the first bend relative to the exhaust intake manifold flow axis is smaller than a second angle of approach of an inner second bend.

Abstract: A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.

Abstract: A locking thumb nut includes a thumb nut base and a lock plate. The lock plate can be fastened to the thumb nut base with fasteners so that the lock plate can be removed from the thumb nut base and replaced with a new lock plate when the lock plate becomes worn. The thumb nut base is elongated to provide for ease of grip by the user's fingers to turn the nut and tighten it along a threaded shank of a screw. The lock plate engages the threads of the screw to prevent unintentional backing out of the thumb nut.

Abstract: An exhaust manifold comprises a plurality of exhaust intake conduits structured to be fluidly coupled to an engine and receive exhaust gas from a corresponding cylinder of the engine. At least one exhaust intake conduit provides a reduction in an exhaust intake conduit cross-sectional area from an inlet to an outlet. A plurality of bends are each defined by a respective one of the exhaust intake conduit outlets. An exhaust intake manifold is fluidly coupled to the exhaust intake manifold and defines an exhaust intake manifold flow axis. Each of the plurality of bends is shaped so as to define n angle of approach of exhaust gas flowing therethrough. A first angle of approach of the first bend relative to the exhaust intake manifold flow axis is smaller than a second angle of approach of an inner second bend.

Abstract: A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.

Abstract: The present invention relates to variants of herpes simplex virus (HSV) that selectively infect and replicate in cancer cells, including HSV strains that selectively infect and replicate in bladder cancer cells. Preferred HSV of the invention have intact endogenous Us11 and Us12 genes and have genes encoding ICP34.5 replaced with a gene encoding Us11 fused to an HSV immediate early (IE) promoter. The variant HSV of the invention also comprise one or more additional heterologous genes encoding immunomodulatory polypeptides. Methods and compositions using these variant HSV, for example, for treating cancer in a subject, are also provided.

Abstract: Systems, apparatus, and methods are disclosed that include an internal combustion engine having a plurality of cylinders operable by a valve actuation mechanism. A cylinder deactivation operation is modified in response to determining a cyclical operation mode of the engine.

Abstract: An intake air circuit is structured to transmit intake air from a turbocharger compressor to an intake manifold of an engine. A charge air cooler (“CAC”), a bypass line, and a bypass heater are each positioned along the intake air circuit in parallel with each other. A first control valve is structured to controllably divert the intake air around the CAC. A second control valve is structured to controllably divert the intake air around at least one of the bypass line and the bypass heater. A controller operatively coupled to each of the engine, and the first and second control valves is structured to control each of the first and second control valves to cause the intake air to flow along a determined desired flow path based on each of measured ambient temperature and measured engine load.

Abstract: The present invention relates to variants of herpes simplex virus (HSV) that selectively infect and replicate in cancer cells, including HSV strains that selectively infect and replicate in bladder cancer cells. Preferred HSV of the invention have intact endogenous Us11 and Us12 genes and have genes encoding ICP34.5 replaced with a gene encoding Us11 fused to an HSV immediate early (IE) promoter. The variant HSV of the invention also comprise one or more additional heterologous genes encoding immunomodulatory polypeptides. Methods and compositions using these variant HSV, for example, for treating cancer in a subject, are also provided.